A magneto-elastic model for soft magnetic concentric tube robots.

Peter Lloyd, Joshua Davy, Yael L May, Jurgen E Schneider, Pietro Valdastri

Abstract read

In one paragraph

Article in Nonlinear dynamics, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

5 authors.

Peter LloydStorm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK.

Joshua DavyStorm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK.

Yael L MayStorm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK.

Jurgen E SchneiderLeeds Institute of Cardiovascular and Metabolic Medicine (LICAMM), School of Medicine, University of Leeds, Leeds, UK.

Pietro ValdastriStorm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK.

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

This paper presents a numerical solution to a reduced-order analytical energy formulation of a soft, magnetically actuated concentric tube continuum robot. Unlike conventional concentric tube robots, which rely on pre-curved elastic energy storage and suffer from material stiffness constraints and snap through instability, our design uses softly magnetic rings adhered to braided sleeves to generate deformation directly from a strong, stationary background field. While high-field MRI systems provide a convenient actuation environment, the proposed design principle is broadly applicable to any application featuring a sufficiently strong background magnetic field (B Supplementary Information: The online version contains supplementary material available at 10.1007/s11071-026-12856-3.

Indexed as

Bistability and hysteresisContinuum roboticsMagnetic concentric tube robotMagneto-elastic modelingMRI-actuated catheterSoft magnetic actuation

Identifiers

PMID42539853

DOI10.1007/s11071-026-12856-3

PMCPMC13424712

What OpenQuestion holds

Textmetadata

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.